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Abstract

A method for substituting at least one high quality position measurement with a set of upgraded low quality position measurements comprising the steps of: selecting a high quality source of position measurements of an object; obtaining at least one high quality position measurement of the object by using the high quality source; wherein each high quality position measurement of the object satisfies the threshold of acceptability requirement for the object; saving at least one high quality position measurement of the object taken at at least one high quality epoch timing coordinate; selecting a low quality source of position measurements of the object; obtaining at least one low quality position measurement of the object using the low quality source; if at least one high quality position measurement of the object is available and substantially recent, using at least one high quality position measurement of the object for navigation purposes of the object; if each high quality position measurement of the object is unavailable, or is available but is not substantially recent, upgrading at least one low quality position measurement of the object by using at least one high quality position measurement of the object to obtain at least one upgraded low quality position measurement that satisfies the threshold of acceptability requirement for the object; and using at least one upgraded low quality position measurement of the object that satisfies the threshold of acceptability requirement for the object in place of at least one high quality position measurement for navigation purposes of the object.

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